Download the images from the Isidore attachment 2013_0417.zip. The images are described in photo filelist. Using this image set, plot the position and orientation of the camera with respect to the floor for images 13 – 38. Draw a rectangle showing the hallway (to scale) and a arrow for each image starting at each camera position and pointing in the direction of the camera normal (direction of view).
The following MATLAB script compares the use of cp2select to the use of directed homography. See script2.m.
Other functions used: look_down.m, cross2d.m and intersect.m.
The anomaly in the plot above is further expolored in MATLAB script script2a.m
The MATLAB script script8.m explores the homography for looking left at the wall.
The following MATLAB script blends data from several pictures into one diagram script4.m
I decided to break the code for each picture into individual files
Then I made a plot function for each function (see cam24.m) and a single MATLAB file to plot the results (see script7.m)
Maintained by John Loomis, last updated 28 April 2013